CN107064912A - System and method for the sane and efficient location estimation based on TDOA in the case where there is various multipaths to postpone - Google Patents

System and method for the sane and efficient location estimation based on TDOA in the case where there is various multipaths to postpone Download PDF

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Publication number
CN107064912A
CN107064912A CN201611079294.7A CN201611079294A CN107064912A CN 107064912 A CN107064912 A CN 107064912A CN 201611079294 A CN201611079294 A CN 201611079294A CN 107064912 A CN107064912 A CN 107064912A
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position
gateway
based
mobile device
tdoa
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CN201611079294.7A
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Chinese (zh)
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彭孟康
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商升特公司
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Publication of CN107064912A publication Critical patent/CN107064912A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/023Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257Hybrid positioning solutions
    • G01S5/0268Hybrid positioning solutions employing positioning solutions derived from a single positioning system
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/06Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/025Services making use of location information using location based information parameters
    • H04W4/027Services making use of location information using location based information parameters using movement velocity, acceleration information
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W4/00Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02Services making use of location information
    • H04W4/029Location-based management or tracking services
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04WWIRELESS COMMUNICATION NETWORKS
    • H04W64/00Locating users or terminals or network equipment for network management purposes, e.g. mobility management

Abstract

The present invention relates to the system and method for the sane and efficient location estimation based on TDOA in the case where there is various multipaths to postpone.A kind of system, at least including mobile device(110)With multiple gateways(120a‑120g), the gateway(120a‑120g)Position be known, wherein, gateway(120a‑120g)Operationally it is arranged to and is determined for each gateway by mobile device(110)The reaching time-difference of the signal sent(TDOA).Solver unit(160)Based on the reaching time-difference(TDOA)To calculate mobile device(110)Position.Solver unit(160)Realize ELM and LMS algorithm and calculated to be transmitted based on one or more packets the single position estimation of mobile device, and including to determine a need for running the program of LMS algorithm and to select or combine the position output from ELM and LMS to realize program that single position is exported.In addition, solver unit includes the tracking to realize mobile device or improves the track algorithm of position accuracy in the case where equipment is static state.

Description

For sane in the case where there is various multipaths to postpone and efficient based on TDOA's The system and method for location estimation

Technical field

Embodiments of the invention are related to the field for the position for determining mobile electronic device.

Background technology

In IOT(Internet of Things)In many other position related applications, it is desirable to which infrastructure can be estimated one or more Position without line object or destination node.In typical position estimating system, there is multiple reference modes or gateway(Its position It is known)And one or more destination nodes or particulate(mote)(Its position will be estimated).

In order to estimate the position of destination node, it is necessary to by the radio transmitting carried out by destination node and by reference mode The reception of progress or opposite direction carry out some degree of the measurement & characterization destination node relative to the position finding information of reference mode Amount(Such as distance or angle).

It will for simplicity and largely consider that wherein destination node carries out radio transmitting herein(It is by gateway(Ginseng Examine node)Receive, the arrival time of packet(TOA)Added timestamp)Situation.However it must be appreciated that the present invention is also With appropriate modification be applied to plurality of gateway send and meanwhile packet or it is determined that time series packet(Its quilt Destination node is received, and the destination node determines the position of their own based on the TOA of packet knowledge)Situation.

Also, description wherein in 2 dimensional planes to determining that the example of the invention of the position of mobile node is retouched below State.Although critically important, the application is simultaneously nonrestrictive, and the present invention also includes wherein in 3-dimensional space to mobile node The variant positioned.

As known to those skilled in the art, if all gateways are synchronous, but destination node is not, then TDOA can be used(Reaching time-difference)Method calculates position.Gateway synchronization can be made by GPS or other synchronization mechanisms. TDOA methods relate generally to determine the difference that same packet was transmitted between the arrival time of two different gateways, during the arrival Between between difference it is relevant with the difference from transmitting node to the distance of two gateways by known spread speed.

Equally as known to those skilled in the art, the presence of multipath delay can be to TOA's and TDOA Measurement result introduces serious change and biasing, and this causes the serious deterioration of position accuracy.Indoors or outdoor actual rings In border, it is most likely that some or all gateways can suffer from the multi-path transmission delay of certain level.Some of gateway It is also quite possible for can suffer from the multipath delay extension more serious than other gateways.It is existing similar to other channels correlation As the biasing that the multipath on arrival time induces is difficult to model and estimated.

Position estimation system is usually segmented into two classes, i.e., based on ranging and apart from independent methodology.TDOA is based on ranging Positioning be widely used for realizing good position accuracy.It is synchronous that all gateways, which are assumed to be, either passes through GPS Or other synchronization mechanisms, however, destination node need not be synchronized to gateway.Destination node transmitting packet, the packet Received and added timestamp by gateway so as to each reception gateway or antenna acquisition TOA values.

, it is necessary to from three different at least two TDOA for receiving gateway as known to those skilled in the art So as to unique estimation of the position that produces destination node.In some cases, two possible estimations may be present, and may need Will the other TOA from the 4th gateway to obtain the final estimation of destination node.When the number of available gateway is more than three When, problem becomes overdetermined problem.There are problems that many academic research papers for being absorbed in the distinct methods for handling this and Patent, including maximum likelihood algorithm, lms algorithm, weighted least mean square difference algorithm, minimum median error algorithm etc..Also Some researchs of the gateway postponed in the presence of the other gateways identification postponed on never multipath with multipath.In the present invention The system and method for middle proposition fall into multipath delay gateway it is identified and removed in the case of combination " minimum intermediate value is missed The general category of difference " and " Minimum Mean Square Error " algorithm.

The content of the invention

It is an object of the invention to provide a kind of system to realize sane location estimation and immunity to multipath And method.Present invention additionally comprises a kind of to be recognized from position algorithm and remove the gateway with most serious delay extension with reality The existing even preferably method of the degree of accuracy.

The present invention proposes a kind of novel system and journey to calculate location estimation according to minimum median error criterion Sequence.It also describes a kind of to calculate the technology of TOA changes for each gateway and to recognize and remove with most serious The scheme of the gateway of multipath delay extension so that the gateway only without or with less serious multipath delay extension exists Position is used to realize the improved degree of accuracy in calculating.

The invention also provides one kind is used for TOA and RSSI(Received signal strength indicator)And SNR(Signal to noise ratio)First number According to fusion with the effective scheme of the improvement position accuracy for the pure method based on TOA.Specifically, by checking correspondence RSSI and SNR metadata judges the reliability of each TOA measurement results.TOA measurement results will be in correspondence RSSI and SNR at certain It is used for TDOA calculating when more than individual threshold value.

Further it is proposed that a kind of new side to alleviate the biasing in the TOA from multipath delay extension Method.The present invention proposes a kind of new side of the biasing in TDOA to compensate the biasing being derived from one or two TOA Method.

The invention also provides a kind of adaptively to select or combine according to minimum median error method and weight most The location estimation of small mean square deviation method under the conditions of various multi-path channels to realize the new technique of the improved degree of accuracy.

The present invention proposes a kind of minimum median error algorithm to using extension and by efficiently identifying and removing Gateway with most notable multipath delay extension, cause only without multipath or with minimum multipath postpone net Close the system and method that be used to location estimation realize sane and accurate location estimation.

Brief description of the drawings

● Fig. 1 a illustrate position fixing process with schematical simplified way, and multiple synchronous gateways are by its reception by moving The positioning packet of node transmitting, and determined by means of solver the position of the mobile node, the solver processing packet And other metadata(Such as RSSI and SNR)In the arrival time of each gateway.

● Fig. 1 b illustrate for the sake of completeness wherein gateway to mobile node launch simultaneously, our time phase The supplementary information of the positioning packet of pass, the mobile node determines the position of their own based on the TOA of the packet.

● Fig. 2 a and 2b represents the possible embodiment of the inventive method with flow chart.

Embodiment

With reference to Fig. 1 a, we it will be assumed that N number of gateway 120a-g receives the positioning packet launched by destination node 110 altogether 135 and the measurement result M of each reception for each gateway, measurement result M include the arrival time of signal(TOA), And preferably also include the received signal strength for being used to receive packet(RSSI)And/or signal to noise ratio(SNR)Instruction.Although TOA is the measurement result of time, but is multiplied by the fact that known spread speed is equal to flying distance, Wo Men based on the flight time Here distance is regarded as in the case of without loss of generality.

Assuming that gateway 120a-g is run by public time reference, the public time reference is appropriate by exchanging Synchronize message 140 or referred to by reference to external time(For example from geo-location satellite reception to signal)And obtain 's.It is well known in the art as described above there is provided the multiple methods for synchronizing reference, and the present invention is comprising therein complete Portion.The synchronous range finding exchange that the present invention can be based on chirp modulated signal is clearly intended to, such as with the application The name of people is by disclosed in WO2014124785.

Measurement result M including TOA values and RSSI and SNR is fed to solver unit 160, the solver unit It is used for determining the position of transfer point by 160.Solver unit is represented as being different from gateway 12a-g in this example, still It can also be the part of one or more gateways, without departing from the scope of the present invention.

Realize that the improved degree of accuracy is fairly common using multiple antennas and multiple transmittings will pass through diversity.This For propose in the present invention have more serious multipath postpone gateway identification and removal for be also important.So And, in order to further simplify expression, following Mathematical treatment only considers that wherein each gateway has single reception antenna and target section Point only launches the situation of a packet.The situation of multiple antennas and multi-emitting can easily be extended to.Based on this, Wo Menke So that location tasks are outlined below.

Represent that there is known location iIndividual gateway,It is in net CloseLocate the packet arrival time of measurement.First, gateway of the selection with minimum TOA is used as ginseng Gateway is examined, is expressed as

OrderRepresent gatewayWith referring to gatewayBetween arrival Time difference.TDOA is to be obtained as follows from TOA measurement results,

Preferably, the first step of the inventive method be TOA filtering and remove, wherein, with its correspondence RSSI and/or TOAs of the SNR below threshold value value will be considered as unreliable(There may be bigger error)Estimation, and will not be wrapped Include to calculate for TDOA.

OrderFor the position of destination node;We are then with below equation:

For location estimation,Residual error be defined as:

Lowest mean square solution is a little, it makes to own(It is secondary)Cost letter residual error and/or being such as defined below Number is minimized

However, least square solution has bad performance in the case where there is outlier sample, it corresponds to some of which net Close the multipath delay extension having a case that than remaining gateway more seriously much.

According to an aspect of the present invention, with the minimum intermediate value of extension(ELM)The variant of the theory of error estimates mobile node 110 Position is to improve the robustness in the case where there is outlier.

Specifically, all TDOA residual errors will be by according to ascending sort.Make median point TDOA remaining different from finding The conventional eight-point algorithm for the solution that error is minimized, this method, which is found, to be made from the Section 1 in ranked list to median point TDOA residual errors and minimum solution.

Although the above method will cause algorithm more sane and without the interference of outlier sample, the present invention is preferably also Including the efficient way to search for the optimum solution for ELM methods, as will be further detailed.

Preferably, present invention additionally comprises to recognize and remove the gateway with the delay of most serious multipath the step of, with Further improve performance.

Location estimation is mainly based upon the TDOA to calculating from TOA, preferably by check correspondence RSSI and SNR and incite somebody to action After TOA is removed from TDOA calculating, as described above.

In Advantageous variants, present invention additionally comprises introduced to alleviate the different multipath delay extensions on different gateways Error the step of.Each TDOA is calculated as the difference of a pair of TOA from two different gateways.When more than a pair of TOA can use When, such as in the case of multiple reception antennas or multiple packets transmitting, there will be the destination node production on same position A raw row TDOA.To handle the average value that this multifarious straightforward procedure will calculate TDOA whole list(Or weighting is flat Average), and it is used as the single TDOA for position calculating.

Preferably, which in two TOA that the present invention determines to be used to first to calculate TDOA has bigger TOA inclined Difference.When there is multiple reception antennas, TOA deviations can be calculated, because there will be from single packet transmitting on same Multiple TOA of gateway.Bigger TOA deviations are most possibly relevant with bigger multipath delay extension, therefore have bigger inclined Put.By know in TOA which have bigger biasing, method of the invention determine corresponding TDOA be with it is positive also It is negative net biasing.The present invention is arranged then according to descending by TDOA whole list ordering with whole ranked TDOA One section of table is average to realize to obtain the final TDOA for being used for position calculating.Ask flat by shifting center and changing The length of equal section, can compensate or alleviate the net positive or negative multipath biasing in TDOA.

Present invention additionally comprises adaptively selected or group from the multi-path channel type that different gateways are subjected to basis The step of closing the result from ELM and from typical Minimum Mean Square Error method.Have found, even if when all gateways all have suitable water When flat multipath postpones, algorithm of the invention also substantially better works than least squares method.

The step of referring now to Fig. 2 a-2b to describe the inventive method:

Fig. 2 a illustrate the method for having determined position with ELM algorithms have been changed according to an aspect of the present invention.Initially(Step 200), the combination of 3 gateway groups is selected from the pond of N number of gateway.3 gateway groups with known location allow preferably going Except its statistic bias based on the position for being enough to be used in determining in two dimensions mobile node calculates two after unreliable TOA Individual independent TDOA values(Step 204).In the case of multiple antennas or many packet transmittings, two row TDOA can be obtained.Identification is every Net positive or negative multipath biasing in individual TDOA lists, and perform to alleviate or compensate the operation of biasing as previously mentioned (Step 208).Hereafter, be produced without or biasing with reduction two TDOA.Thus, it is simple 3 gateway TDOA Problem is put, wherein it is possible to which direct solution two Hyperbolic Equations realize location estimation as described above.Usually, this Process can provide two, one and solve or without solution(Step 210).

In 3D navigation generally, single three gateways are not enough to determine position.The method of the present invention is by increasing Plus each gateway number considered in combination is so that for each combination with solvable problem or by using additional information(Example Such as the partial knowledge for the time that the position of node 110 or ranging message 135 are sent)And be still applicable.

If 3 gateway problems provide two solutions, a gateway can be removed with multiple means(Step 220), for example Most flat-footed method be by check for 4th or more extra gateway TDOA or TDOA residues, or by with elder generation Preceding known position compares.In some cases, the error on TOA may be so serious, so that not existing effective Solution.Up to the present, do not produce or produce an effective location estimation based on 3 gateways.

If there is the effective 3 gateway solution from step 220(Test(230)), then algorithm calculate TDOA residual errors All combinations and by it according to ascending sort.

According to ranked TDOA residual error lists, the present invention is calculated(Step 240)Until median point residual error, its It is the Section 1 in ranked list(Error term more than Minimum Residual)To the sum of median point.

And in step 240, method of the invention calculates super median error, it is until intermediate value point tolerance is added through row Fixed number purpose really further up in sequence table.

Also, in step 240, method of the invention calculates average(Institute is a little)Error, during it is ranked list The sum of all TDOA residual errors.In addition, should plus and can exclude with most great TDOA residual errors really fixed number purpose with Exclude some outliers.

In addition, until intermediate value, super intermediate value and average residual error add and are divided by plus and item corresponding number with respectively Obtain average TDOA residual errors.

Later will need 3 gateway solutions and it is corresponding until intermediate value, super intermediate value and mean square deviation and be stored in candidate arrange In table or another appropriate data structure(Step 255).

Combination repeat step 200-250 is possible to for 3 gateways from pond(To judge 260 rings terminated Road).This will create the candidate list being made up of all location estimations based on 3 gateways.Then, algorithm is based on TDOA residual errors And the position of destination node is estimated from candidate list.In the possibility of this step is realized, the position can have minimum straight Solution to median error or with minimum super median error or with minimum average B configuration error.To judge in 3 possible solutions Which will be ELM positions output program can be based on for 3 may solution overall TDOA residual errors inspection.

Fig. 2 b illustrate the process that the position of higher levels is determined.Initially(Step 310), TOA is calculated for each gateway Change.TOA changes will be used for the identification and removal of multipath gateway such as in 320 and 330.

Later(Step 290), system by using the step of for example description in fig. 2 a determine ELM solve, and as before Optimal ELM location estimations are selected based on TDOA residual errors describedly.

Preferably, method of the invention be additionally included under ELM to determine multipath delay whether there is and which net The step of pass most is postponed to be influenceed by multipath(Step 320).Detection gateway in multipath possibility mode be by from The TOA of each gateway changes compared with given threshold value.

It is identified as the gateway with undue multipath delay extension to be removed from active gateway list(Step 330), And again estimate ELM positions(Step 295).Preferably, algorithm will keep at least minimal amount in active gateway list Gateway(Typically 4).

The method of the present invention is also including the inspection based on the corresponding RSSI and SNR carried out for some threshold values from TDOA Calculate and remove insecure TOA.

Present invention additionally comprises postpone to expand to alleviate or compensate the different multipaths being derived from the TOA from different gateways The method of biasing in the TDOA of exhibition.

Preferably, method of the invention also includes step 340, wherein, the TOA changes from each gateway are checked to, It is made whether lowest mean square to be performed(LMS)It is determined that the judgement to improve position accuracy.Usually, LMS determine can across The TOA changes of all active gateways cause when all there is suitable value, i.e. all gateways to have suitable multipath delay extension Superperformance.If the judgement in 340 is(yes), then determined in 360 using all LMS that can be performed with gateway.

Preferably, in the case that the height of gateway antennas and particulate is significantly different wherein, the method based on 2D will be due to Cause site error using the TOA measured in 3D coordinate systems in 2D coordinate systems.If the height of particulate is set by other Standby is known, such as barometric surveying, then the present invention includes a kind of to compensate the difference in height being derived between gateway and particulate TOA measurement results biasing method.

In addition, the present invention includes a kind of elevation information to using known gateway and particulate and estimated particulate position Put and changed to compensate the biasing in TOA measurement results with being realized in the case of the or biasing from difference in height with reduction The recursion method of kind location estimation.

Finally, algorithms selection ELM solutions or LMS solution or its combination(Step 365)And export final position.To being at present Only, the single estimation of the destination node location carried out based on one or more packets is obtained.More companies are carried out in destination node In the case that supervention is penetrated, more continuous single ELM estimations of the position of destination node can be produced.All these single estimations can To be fed to track algorithm, such as Kalman filter 370 or another appropriate algorithm, to track the movement or such as of destination node Fruit destination node improves position accuracy if being just maintained at static state.

Simulation has shown that system can be for realizing sane and efficient position by the gateway of various multipath delay extensions Put estimation.All gateways all have it is identical or close to horizontal delay extension in the case of, algorithm be illustrated as stably, and Produce at least with the conventional LMS methods identical degree of accuracy.System solves the problems, such as 2D location estimations, but the thought can be held Change places and extend to processing 3D location estimations.

System and method in the present invention are having across the different big but uneven multipath delay extensions for receiving gateways In the case of the much better position accuracy of delivery ratio least fibre method.The minimum median algorithm of extension is realized good with low-complexity Good performance.With unique severe multipath footpath postpone gateway identification and removal technology, to remove unreliable TOA TOA and RSSI and SNR fusion method and the Combination of Methods to alleviate and compensate the multipath biasing during TDOA is calculated, whole system System is realized or even than simple minimum intermediate value quadratic sum least fibre method better performance.

Claims (18)

1. a kind of system, at least including destination node or mobile device and multiple gateways, the position of the gateway be it is known, Wherein, gateway is operationally arranged to the reaching time-difference of the signal sent for the determination of each gateway by mobile device, or Person's mobile device is operationally arranged to determine the reaching time-difference of the synchronizing signal from gateway;The system also includes Solver unit, it is operationally arranged to based on the reaching time-difference to calculate the position of mobile device,
It is characterized in that
Each candidate that the solver unit is arranged in generation position candidate list, candidate list is based on from available net The solution of the combination of three or more gateways selected among pass, and select ELM from all possible candidate solution or its combination Position is exported.
2. system according to claim 1, wherein, the solver unit is arranged to minimum until intermediate value based on having The candidate solution of error calculates the position of mobile node.
3. system according to claim 1, wherein, the solver unit is arranged to minimum more than intermediate value based on having The candidate solution of error calculates the position of mobile device.
4. system according to claim 1, wherein, the solver unit is arranged to based on minimum average B configuration error Candidate solution calculate the position of mobile device.
5. system according to claim 1, is further arranged to abandon the gateway by multipath delayed impact.
6. system according to claim 1, the TOA for being further arranged to calculate each gateway changes and is based on this and loses Abandon the gateway by multipath delayed impact.
7. system according to claim 1, wherein, the solver is further arranged to based on its RSSI and SNR members Data and remove unreliable TOA.
8. system according to claim 1, is further arranged to alleviate or compensates from multipath delay extension Biasing in TDOA.
9. a kind of method for determining position of the mobile device relative to multiple gateways, the position of the gateway is known, bag Include:Determine the signal that is sent from mobile device for each gateway or synchronizing signal from gateway to mobile device that sent to Up to the time difference;The position of mobile device is calculated based on the reaching time-difference,
It is characterized in that
The candidate solution of the position of mobile device is produced, each candidate solution is based on three gateways selected among available gateway Combination, and the position of mobile node is estimated based on candidate solution.
10. method according to claim 9, in addition to based on calculating shifting with the candidate solution at least up to median error The position of dynamic node.
11. method according to claim 9, in addition to based on calculating shifting with the minimum candidate solution more than median error The position of dynamic equipment.
12. method according to claim 9, in addition to set to calculate movement based on the candidate solution with minimum average B configuration error Standby position.
13. method according to claim 9, in addition to TOA changes are calculated for each gateway, and based on across all nets The gateway for closing the program for checking TOA changes and abandoning the influence postponed by multipath.
14. method according to claim 9, being further arranged to remove based on itself RSSI and SNR metadata can not By TOA.
15. method according to claim 9, is further arranged to alleviate or compensates from multipath delay extension Biasing in TDOA.
16. method according to claim 9, is further arranged to the difference in height that compensation is derived between gateway and particulate TOA/TDOA in biasing, to improve the position accuracy based on 2D, if the elevation information of particulate is available.
17. method according to claim 9, position is calculated including the use of LMS algorithm and select or combination from ELM and The program that the position of LMS algorithm is exported with the final position produced on mobile device.
18. method according to claim 9, wherein, the mobile device carries out continuous wireless radio transmission, including position with Track step.
CN201611079294.7A 2015-11-30 2016-11-30 System and method for the sane and efficient location estimation based on TDOA in the case where there is various multipaths to postpone CN107064912A (en)

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